Part9 - executers
hello ROS2 executers
Table of Content
minimal_timer
import rclpy
from rclpy.node import Node
class MinimalTimer(Node):
def __init__(self):
super().__init__("simple_timer")
timer_period = 1 # seconds
self.timer = self.create_timer(timer_period, self.timer_callback)
self.i = 0
def timer_callback(self):
self.get_logger().info(f'timer tick: {self.i}')
self.i += 1
def main(args=None):
rclpy.init(args=args)
minimal_timer = MinimalTimer()
rclpy.spin(minimal_timer)
minimal_timer.destroy_node()
rclpy.shutdown()
if __name__ == "__main__":
main()
minimal_sta
import rclpy
from rclpy.node import Node
from rclpy.executors import SingleThreadedExecutor
class MinimalTimer(Node):
def __init__(self):
super().__init__("simple_timer")
timer_period = 1 # seconds
self.timer = self.create_timer(timer_period, self.timer_callback)
self.i = 0
def timer_callback(self):
self.get_logger().info(f'timer tick: {self.i}')
self.i += 1
def main(args=None):
rclpy.init(args=args)
minimal_timer = MinimalTimer()
ste = SingleThreadedExecutor()
ste.add_node(minimal_timer)
ste.spin()
minimal_timer.destroy_node()
rclpy.shutdown()
if __name__ == "__main__":
main()